HUMAN – ROBOT COORDINATION USING WIRELESS
COMMUNICATION
Authorised By
SANTOSH BHARADWAJ REDDY
Email: help@matlabcodes.com
Engineeringpapers.blogspot.com
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Abstract—To aid people working in
hazardous situations such as defense,
military and for those pursuing research, a
robot based on replication technique
capable of performing any task and which
can be controlled via wireless link is
proposed in this paper. These robots will be
of immense use in such situations as they
can do the roles of human beings. It has
extensive monitoring and maneuvering
capability attainable at a low driving
voltage and has a good response to external
stimuli. This paper presents the methods for
making the robot’s motion to be in
congruence with that of the human being
who operates it, obviating the need for
sensors. An efficient design of cost effective
robots of various sizes which can be
interfaced with a single Teaching Hand
Gripper (THG) designed specifically for the
joints of the human for their operation has
also been proposed. The THG is calibrated
to overcome the discrepancies among
potentiometers used for robot motion. The
performance of the proposed system is
tested on a robot with a single joint and the
results are presented for a simple closed
loop system. The robot is given fast, medium
and slow responses as inputs such that a
variation of 30 degrees is achieved in time
intervals of 1, 2 and 3 sec. The output lag
and the system efficiency are analyzed. The
distance between the robot and the point of
control can be up to 75km. The control
signals are transmitted from the human to
the robot via FM. These robots when under
use in a hazardous situation can be
efficiently operated from a safe
environment.
I. INTRODUCTION
The control of conventional button operated
robot can be achieved by alternatives like
voice & physical motion. The usage of body
movement to activate humanoid robots is in
vogue and generally expensive due to
sensors used in them. Programming by
human demonstration is an intuitive method
of robot programming, in which the
programmer demonstrates how a task is
performed using a THG that measures
human motion, and the data gathered is used
to generate the robot program. In the
existing approaches a direct duplication of
the demonstrated trajectory would result in
unsatisfactory robot motion due to human
“wiggles” and unnecessary motion in case
you use sensors. In this paper the human
inconsistency is treated as noise that is
eliminated by the use of potentiometer and
analog to digital converters with lower
resolution compared to that of the sensor.
The proposed work deals with humanoid
robots, which depend on the calibration,
fault tolerance, control system and rotational
dynamics at each joint for its motion. Non
-specification of starting reference point at
any instant of time after resumption from a
power failure is the most salient feature of
this present study. The concept of safe
activation of robots of different sizes with a
single THG by the use of low voltage is
another desirable feature of the proposed
work. By using this proposal even a person
who doesn’t possess knowledge of
computers will be at ease in programming
the robot depending on the situation. An
efficient design of robots of various sizes
which can be interfaced with a single THG
is also an impressive feature of the robot.
The number of potentiometers required for
the THG and robot is given by 2n, where n
is the number of joints either in the robot or
in the THG.
and THG is due to the presence of simple
closed loop system at each joint of the robot
as shown in Fig.2.
The position of the robot can be determined
from the potentiometer reading from all the
joints. A camera attached to the top of the
task robot captures the images of the objects
and transfers them to the destination which
in turn guides the robot to perform the
desired task. The images are transferred to
the destination by using data acquisition tool
in Mat Lab. The potentiometers and motors
are mounted in such a way that the variation
in the demonstrator setup has an impact on
the robot setup resulting in the matching of
positions.

II. PROPOSED WORK

Fig.1 Arrangement of potentiometer
Physical motion stems from the angular
movement arising at the various joints in our
body. Hence the measure of rotational
motion at the joints of the demonstrator
body is essential for replication by the robot.
The Architecture of the robot and the THG
plays an important role in the control of the
robot. The angular displacement at the joints
of the demonstrator gripper is measured with
the help of a rotary potentiometer which also Fig.2 Simple closed loop system
serves as an indicator of angular
displacement. The exact positioning of the III. WORKING PRINCIPLE
potentiometer is made on the robot, such
A. Closed Loop System for replication
that the potential variation in both the
process
demonstrator gripper potentiometer and the
robot potentiometer are identical as shown The development of control systems for
in Fig.1. The congruent motion of the robot robot manipulators with redundant
kinematics is still a demanding task. This
task becomes even more challenging if the
robots to be controlled operates in partly
unknown environments which vary over
time and may be thousands of kilometers
away from the operator, for example in
space. The motor is connected with the
potentiometer, thus causing the
potentiometer to rotate and correct the error,
resulting in least possible error. Depending
on the error the input to the motor applied is
decided by an H- Bridge circuit, to either
rotate clockwise or anti-clockwise as shown
in Fig.3. If the error is positive, positive
potential is applied to the motor which
overcomes the error with a positive
correction, hence rotating the motor in
clockwise direction. If the error is negative,
negative potential is applied to the motor
which corrects the error with a negative
correction, thereby rotating the motor in
counter clockwise direction. The equation to
compute error is given by
E(s) = C(s) – R(s)
E(s) – Error
C(s) – Input to the system
R(s) – Output from the system
To avoid steady state error and for the error
to be zero, the motor speed is varied when
the position of the robot is nearer to the
THG position. When the difference in
position of the robot and the THG is less
than 15o, the motor speed is reduced to one
half of the original speed by the use of Pulse
Width Modulation. When the difference in
position of the robot and the THG is less
than 7o, the motor speed is reduced to a
quarter of the original speed. The algorithm
for operation is as shown in Fig.4.
B. Multi-Sized Robot matching with a
single designed demonstrator gripper
Condition for the robot to replicate the
action performed in THG at each joint is
θ(s) = φ(s)
Where θ and φ is the angle moved by the
THG and the robot respectively.
To have a clear idea about the concept, a
humanoid robot is taken for reference and
illustrated. The condition for a robot of any
size to replicate the action performed in the
gripper at each joint is
θ(s) = α φ(s)
Where α is a constant.
If a>1, Variation of the potentiometer in the
THG is greater than that of the robot
potentiometer as shown in Fig. 5
If a<1, Variation of the potentiometer in the
robot is greater than that of the THG
potentiometer as shown in Fig. 6
If a=1, Variation of the potentiometer in the
robot is same as that of the THG
potentiometer as shown in Fig. 1
While using different dimensions of robot
and THG, the robot cannot replicate the
action because the variation of the
potentiometer at the joint is dependent on
the size of the potentiometer used in the
robot and THG. Any multi-sized robot
replicates the actions of the THG by means
of the potentiometer installed which helps in
defining a factor and nullify the effect of the
variation.
In a transmitter, the factor is defined by the
user with the potentiometer as shown in
Fig.8 and the factor is multiplied so that the
data received in the receiver will be in
accordance with the dimensions of the THG
as shown in Fig.7. Assumption is made that
all the potentiometers at the joints of the
robot and the THG vary by the same factor.
Fig.3 Simple closed loop in frequency domain

Fig.4 Micro-Controller A Algorithm

A. Demonstrator Gripper Circuit

The THG circuit using wired

communication is shown in the Fig.8. The
algorithm for microcontroller 1 in the
transmitter is shown in Fig.9. The
potentiometer rotates up to 320 degrees but
no joint in our body has the capacity to
rotate more than 270 degrees. So a value is
assigned for acknowledgement of cycle
Fig.7 Multi–sized robot coordination by adjusting α completion such that any loss of data will be
corrected by the new data received in the
next cycle as shown in Fig.12. The output
decimal value of 255 is assigned for
acknowledgement of completion of one
cycle. When the value of 255 is obtained at
the receiver side, the next data transmitted
will be considered as new cycle. Before the
pulses are given as input to the FSK
modulator, it must be converted to serial
Fig.8 Wireless Transmitter data which is achieved with the help of the
shift register.
IV. USING WIRELESS
COMMUNICATION
Fig.9 Algorithm for microcontroller 1
The Frequency shift Keying (FSK Digital
modulation technique) circuitry is used for
converting the digital pulse to analog output
to be fed into the FM transmitter. In the FM
transmitter is an analog modulation
technique hence requires analog input which
is achieved with the help of FSK modulator.
The output from the FSK will be fed as
input to the FM Transmitter, where
Microphone is replaced by the FSK
modulated waveform
Fig.10 Algorithm for microcontroller 2
Fig.11 Wireless Receiver
B. Receiver
The block diagram for the circuit in the fish-
like robot using wireless communication is
shown in Fig.11. The algorithm for
microcontroller 2 and microcontroller A in
the receiver are shown in Fig.10 and Fig.4
respectively. At the receiver end, mounting a
small size antenna would make the
architecture of the robot stable. To have a
better efficiency in mind Cubical Quad type
antenna is chosen for FM receiver .The FM
preamplifier act as an amplifier that
amplifies the signal before data processing.
The FSK Demodulator is used for
converting analog output from the FM
Receiver to digital data. The microcontroller
is connected to the decoder to select only
one buffer at a time. All the buffers are
given parallel connection to the output port
of the microcontroller 1, so that it will
enable the data to reach only a particular
joint. The chip enable pin of the buffer helps
to correlate the data from the demonstrator
setup to the corresponding joint of the robot.
Fig.12 Closed loop system

The FM transmitter of 2W is constructed

Fig.13 Time vs. Displacement in 1 sec
and tested at various distance from the
operating point. The serial in parallel out
helps to make data processing easier by
sending parallel data to the microcontroller.
The FM transmitter that can send the signal
up to 2km can be received from a distance
of 75km by using the Pre – amplifier
designed with Dual Gate MOSFET. Dual
Gate MOSFET pre – amplifier circuit has
much higher gain approaching that of the
vacuum and having high signal to noise Fig.14 Time vs. Displacement in 2 sec
ratio. Dual Gate MOSFET Pre – amplifier
circuit designed gives an excellent gain of In Fig.13 to 15, the robot is tested by slow,
about 18dB. medium and fast responses as inputs such
that a variation of 30 degrees is achieved in
V. PERFORMANCE ANALYSIS time intervals of 1, 2 and 3seconds. The
robot’s performance is analyzed under three
A closed loop control system as in Fig.12 is
different scenarios in which input applied
used for performance analysis. For our
can be categorized as Slow, Medium, and
present study, parameters such as time,
Fast.
frequency, angular displacement, angular
displacement lag, efficiency, velocity,
displacement and propelling speed are
considered. Practical testing introduces a
variation of 1.4 degrees which will cause the
input of the micro controller to change by
one decimal or one hexadecimal. So the
variation in the position is determined by the
values got as input from the computer and
the decimal is converted in terms of degrees.
Fig.15 Time vs. Displacement in 3 sec

VII. CONCLUSION
A humanoid robot which can be operated by
physical movement of the demonstrator
using wireless communication is designed
and tested. From the experimental results, it
is shown that efficiency of the robot can be
varied by changing the input response given
by the THG. At low input response, the
efficiency was found to be the highest with
negligible lag. Thus by varying the input the
efficiency can be varied. The steady state
error of the robot while settling in a position
was found to be nil. This concept can be
extended to an autonomous robot by
programming it accordingly.

REFERENCES

[1] Ji-Hyoung Lee, Jae-Kwon Kim, “Development of

multi-axis gantry type welding robot system using a
PC-based controller”, Industrial Electronics, 2001

[2] N. Delson, H. West, and E.F. Roberts, “Robot

programming by human demonstration: the use of
human inconsistency in improving 3D robot
trajectories”.

[3] Chen Yimin, Zhang Tao, Wang Di, and He

Yongyi, “A robot simulation, monitoring and control
system based on network and Java3D”.

Authorised By

SANTOSH BHARADWAJ REDDY

Email: help@matlabcodes.com

Engineeringpapers.blogspot.com

More Papers and

Presentations available
on above site